/usr/include/SurgSim/Math/Aabb.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 | // This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_AABB_H
#define SURGSIM_MATH_AABB_H
#include <Eigen/Geometry>
namespace SurgSim
{
namespace Math
{
/// Wrapper around the Eigen type
typedef Eigen::AlignedBox<float, 3> Aabbf;
/// Wrapper around the Eigen type
typedef Eigen::AlignedBox<double, 3> Aabbd;
/// Determine whether two AABBs have an intersection with each other, for the calculation see
/// http://www.gamasutra.com/view/feature/131790/simple_intersection_tests_for_games.php?page=3
/// \tparam Scalar numeric type
/// \tparam Dim dimension of the space to be used
/// \param aabb0 first axis aligned bounding box
/// \param aabb1 second axis aligned bounding box
/// \param tolerance the bounding boxes will be considered bigger by this amount
/// \return true if there is an overlap between the two boxes
template <class Scalar, int Dim>
bool doAabbIntersect(const Eigen::AlignedBox<Scalar, Dim>& aabb0,
const Eigen::AlignedBox<Scalar, Dim>& aabb1,
double tolerance)
{
typedef typename Eigen::AlignedBox<Scalar, Dim>::VectorType VectorType;
VectorType vector = (aabb1.center() - aabb0.center()).array().abs();
VectorType totalSizes = ((aabb0.sizes() + aabb1.sizes()) * 0.5).array() + tolerance;
return (vector.array() <= totalSizes.array()).all();
}
/// Determine whether two AABBs overlap, using a minimal set of eigen calls, does not take a tolerance
/// \tparam Scalar numeric type
/// \tparam Dim dimension of the space to be used
/// \param a first axis aligned bounding box
/// \param b second axis aligned bounding box
/// \return true if there is an overlap between the two boxes
template <class Scalar, int Dim>
bool doAabbIntersect(const Eigen::AlignedBox<Scalar, Dim>& a,
const Eigen::AlignedBox<Scalar, Dim>& b)
{
return !a.intersection(b).isEmpty();
}
/// Convenience function for creating a bounding box from three vertices (e.g. the vertices of a triangle)
/// \tparam Scalar numeric type
/// \tparam Dim dimension of the space to be used
/// \tparam MType the eigen type of the vectors
/// \return an AABB containing all the points passed
template <class Scalar, int Dim, int MType>
Eigen::AlignedBox<Scalar, Dim> makeAabb(
const Eigen::Matrix<Scalar, Dim, 1, MType>& vector0,
const Eigen::Matrix<Scalar, Dim, 1, MType>& vector1,
const Eigen::Matrix<Scalar, Dim, 1, MType>& vector2)
{
Eigen::AlignedBox<Scalar, Dim> result(vector0);
result.extend(vector1);
result.extend(vector2);
return result;
}
/// Rotate the extrema of the aabb, note that that will extend the size of the box
/// \tparam Scalar numeric type
/// \tparam Dim dimension of the space to be used
/// \param transform The Rigidtransform to use
/// \param aabb the aabb to transform
/// \return the transformed aabb
template <class Scalar, int Dim>
Eigen::AlignedBox<Scalar, Dim> transformAabb(const Eigen::Transform<Scalar, Dim, Eigen::Isometry>& transform,
const Eigen::AlignedBox<Scalar, Dim>& aabb)
{
static std::array<typename Eigen::AlignedBox<Scalar, Dim>::CornerType, 8> corners =
{
Eigen::AlignedBox<Scalar, Dim>::BottomLeftFloor, Eigen::AlignedBox<Scalar, Dim>::BottomRightFloor,
Eigen::AlignedBox<Scalar, Dim>::TopLeftFloor, Eigen::AlignedBox<Scalar, Dim>::TopRightFloor,
Eigen::AlignedBox<Scalar, Dim>::BottomLeftCeil, Eigen::AlignedBox<Scalar, Dim>::BottomRightCeil,
Eigen::AlignedBox<Scalar, Dim>::TopLeftCeil, Eigen::AlignedBox<Scalar, Dim>::TopRightCeil,
};
if (aabb.isEmpty())
{
return aabb;
}
Eigen::AlignedBox<Scalar, Dim> result;
std::for_each(corners.cbegin(), corners.cend(),
[&result, &aabb, &transform](typename Eigen::AlignedBox<Scalar, Dim>::CornerType c)
{
result.extend(transform * aabb.corner(c));
});
return result;
}
}
}
#endif
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